NP5 SPI Online Manual

3412h NanoSPI SDO Control

An SDO message prepared in 3413h or 3414h can be sent from the sub-master to the sub-slave via the controlword. See SPI sub-master.


Index	3412_h
Object name	NanoSPI SDO Control
Object Code	VARIABLE
Data type	UNSIGNED8
Savable	yes, category: communication
Access	read / write
PDO mapping	RX-PDO
Allowed values
Preset value	00_h
Firmware version	FIR-v1426
Change history	Firmware version FIR-v1540: "Object Name" entry changed from "NanoSPI Can Master Controlword" to "NanoSPI CAN Message Controlword". Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: communication". Firmware version FIR-v1650-B527540: "Object Name" entry changed from "NanoSPI CAN Message Controlword" to "NanoSPI SDO Control". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO".

START

Value = "1": Starts the sending of the message

RW (Read or write)

This bit is ignored if bit 2 (MSG) contains the value 1.

Value = 0: The SDO message initiates a read operation from the object dictionary of the sub-slave
Value = 1: The SDO message writes the passed value in the object dictionary of the sub-slave

MSG (Message type)

ANS (Answer is ready)

Value = 1: The response to the sent message has arrived (can be found in 3415_h).

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